Detailed Description

A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire, USB3 or GigaE cameras and stereo cameras.

This class is only available when compiling MRPT with "MRPT_HAS_PGR_FLYCAPTURE2".

See also: See the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor; See example code in [samples]/captureVideoFlyCapture2 and [samples]/captureVideoFlyCapture2_stereo.

Definition at line 131 of file CImageGrabber_FlyCapture2.h.

#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>

Inheritance diagram for mrpt::hwdrivers::CImageGrabber_FlyCapture2:

Public Member Functions
	CImageGrabber_FlyCapture2 ()
	Constructor that does not open a camera. More...

	CImageGrabber_FlyCapture2 (const TCaptureOptions_FlyCapture2 &options)
	Constructor: tries to open the camera with the given options. More...

virtual	~CImageGrabber_FlyCapture2 ()
	Destructor. More...

const TCaptureOptions_FlyCapture2 &	getCameraOptions () const
	Returns the current settings of the camera. More...

void	open (const TCaptureOptions_FlyCapture2 &options, const bool startCapture=true)
	Tries to open the camera with the given options, and starts capture. More...

void	startCapture ()
	Start the actual image capture of the camera. More...

void	stopCapture ()
	Stop capture. More...

void	close ()
	Stop capture and closes the opened camera, if any. More...

bool	getObservation (mrpt::obs::CObservationImage &out_observation)
	Grab mono image from the camera. More...

bool	getObservation (mrpt::obs::CObservationStereoImages &out_observation)
	Grab stereo image from the camera. More...

bool	isStereo ()
	Returns if current configuration is stereo or not. More...

Static Public Member Functions
static void	startSyncCapture (int numCameras, const CImageGrabber_FlyCapture2 **cameras_array)
	Starts a synchronous capture of several cameras, which must have been already opened. More...

static std::string	getFC2version ()
	Returns the PGR FlyCapture2 library version. More...

Protected Attributes
void *	m_camera
	Opaque pointer to the FlyCapture2::Camera object. NULL if no camera is grabbing. More...

void *	m_camera_info
	Opaque pointer to the FlyCapture2::CameraInfo object. NULL if no camera is grabbing. More...

void *	m_img_buffer
	Opaque pointer to the FlyCapture2::Image, used as a temporary buffer and to avoid mem alloc/reallocs. More...

void *	m_triclops
	Opaque pointer to the TriclopsContext objetc. NULL if no context is active. More...

float	m_baseline
	Camera baseline (only for stereo cameras) More...

float	m_focalLength
	Camera focal length. More...

float	m_centerCol

float	m_centerRow
	Camera center coordinates. More...

TCaptureOptions_FlyCapture2	m_options
	Camera options. More...

Constructor & Destructor Documentation

◆ CImageGrabber_FlyCapture2() [1/2]

CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( )

Constructor that does not open a camera.

Default constructor.

See also: open()

Definition at line 227 of file CImageGrabber_FlyCapture2.cpp.

References m_img_buffer.

◆ CImageGrabber_FlyCapture2() [2/2]

CImageGrabber_FlyCapture2::CImageGrabber_FlyCapture2 ( const TCaptureOptions_FlyCapture2 & options )

Constructor: tries to open the camera with the given options.

Constructor + open.

Raises an exception on error.

See also: open()

Definition at line 239 of file CImageGrabber_FlyCapture2.cpp.

References m_img_buffer, and open().

◆ ~CImageGrabber_FlyCapture2()

CImageGrabber_FlyCapture2::~CImageGrabber_FlyCapture2 ( )

virtual

Destructor.

Definition at line 252 of file CImageGrabber_FlyCapture2.cpp.

References close(), FC2_BUF_IMG, and m_img_buffer.

Member Function Documentation

◆ close()

void CImageGrabber_FlyCapture2::close ( )

Stop capture and closes the opened camera, if any.

Closes the opened camera, if any.

Called automatically on object destruction.

Definition at line 588 of file CImageGrabber_FlyCapture2.cpp.

References FC2_CAM, FC2_CAM_INFO, m_camera, m_camera_info, m_triclops, stopCapture(), THROW_EXCEPTION, and TRI_CONTEXT.

Referenced by open(), and ~CImageGrabber_FlyCapture2().

◆ getCameraOptions()

const TCaptureOptions_FlyCapture2& mrpt::hwdrivers::CImageGrabber_FlyCapture2::getCameraOptions ( ) const

inline

Returns the current settings of the camera.

Definition at line 157 of file CImageGrabber_FlyCapture2.h.

◆ getFC2version()

std::string CImageGrabber_FlyCapture2::getFC2version ( )

static

Returns the PGR FlyCapture2 library version.

Definition at line 619 of file CImageGrabber_FlyCapture2.cpp.

References mrpt::mrpt::format(), and THROW_EXCEPTION.

Referenced by open().

◆ getObservation() [1/2]

bool CImageGrabber_FlyCapture2::getObservation ( mrpt::obs::CObservationImage & out_observation )

Grab mono image from the camera.

This method blocks until the next frame is captured.

Returns: false on any error.

Definition at line 635 of file CImageGrabber_FlyCapture2.cpp.

References CHECK_FC2_ERROR, mrpt::obs::gnss::error, FC2_BUF_IMG, FC2_CAM, mrpt::obs::CObservationImage::image, mrpt::utils::CImage::loadFromMemoryBuffer(), m_camera, mrpt::system::now(), THROW_EXCEPTION, mrpt::system::time_tToTimestamp(), and mrpt::obs::CObservation::timestamp.

◆ getObservation() [2/2]

bool CImageGrabber_FlyCapture2::getObservation ( mrpt::obs::CObservationStereoImages & out_observation )

Grab stereo image from the camera.

This method blocks until the next frame is captured.

Returns: false on any error.

Definition at line 686 of file CImageGrabber_FlyCapture2.cpp.

References mrpt::obs::CObservationStereoImages::cameraPose, CHECK_FC2_ERROR, CHECK_TRICLOPS_ERROR, FC2_CAM, mrpt::hwdrivers::TCaptureOptions_FlyCapture2::get_rectified, mrpt::obs::CObservationStereoImages::imageLeft, mrpt::obs::CObservationStereoImages::imageRight, mrpt::obs::CObservationStereoImages::leftCamera, m_baseline, m_camera, m_centerCol, m_centerRow, m_focalLength, m_options, mrpt::system::os::memcpy(), mrpt::system::now(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::obs::CObservationStereoImages::rightCamera, mrpt::obs::CObservationStereoImages::rightCameraPose, mrpt::utils::CImage::setFromIplImage(), mrpt::utils::TCamera::setIntrinsicParamsFromValues(), THROW_EXCEPTION, mrpt::system::time_tToTimestamp(), mrpt::obs::CObservation::timestamp, TRI_CONTEXT, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().

◆ isStereo()

bool mrpt::hwdrivers::CImageGrabber_FlyCapture2::isStereo ( )

inline

Returns if current configuration is stereo or not.

Definition at line 194 of file CImageGrabber_FlyCapture2.h.

References mrpt::hwdrivers::TCaptureOptions_FlyCapture2::stereo_mode.

◆ open()

void CImageGrabber_FlyCapture2::open	(	const TCaptureOptions_FlyCapture2 &	options,
		const bool	startCapture = `true`
	)

Tries to open the camera with the given options, and starts capture.

Tries to open the camera with the given options.

Raises an exception on error.

Parameters

[in] startCapture If set to false, the camera is only opened and configured, but a posterior call to startCapture() is required to start grabbing images.